Labour leader Ed Miliband described him as an "iconic figure", adding that the Labour party had lost a "champion of the powerless, a great parliamentarian and a conviction politician".

Prime Minister David Cameron said he ensured there was "never a dull moment", even for those who disagreed with what he said.

Benn was first elected to parliament in 1950 - renouncing a peerage so he could remain in the House of Commons - and was an MP for more than 50 years.

He retired from parliament in 2001 saying he wanted to "spend more time on politics", and spent his remaining years touring the country to speak to packed audiences.

In a statement after his death, his children Stephen, Hilary, Melissa and Joshua said: "We will miss above all his love which has sustained us throughout our lives. But we are comforted by the memory of his long, full and inspiring life and so proud of his devotion to helping others as he sought to change the world for the better."